- Detailed robot model (controller, motor, gearbox, mechanical structure).
- Mechanism with two kinematic loops and one degree of freedom.
- Drive train with three coupled clutches (modeled with Coulomb friction)
- Preload of a spool valve.
- Simple NPN transistor amplifier.
- Heated rod with comparision of two discretization formulas.
- Parallel activities described by a simple petri net.
- Closed circuit hydraulic drive.
- Nine bus test system (power system).

The Modelica Association and other people have developed and are still developing free and commercial component libraries in many domains. Download the free libraries from here. They have the following content:

**Free
Modelica Standard Library**

The following library is developed together with the Modelica language
from members of the Modelica Association.
Although this library is free software, there are some minor restrictions
defined in the Modelica license conditions.

Modelica | Standard library for the Modelica language from the Modelica Association | ||||

Blocks | Basic input/output control blocks (transfer functions, nonlinear elem., ...) | ||||

Continuous | Continuous control blocks with internal states (PI, PID, state space, ...) | ||||

Math | Mathematical functions as input/output blocks (gain, sum, sin, cos, ...) | ||||

Nonlinear | Discontinuous or non-differentiable algebraic control blocks | ||||

Sources | Signal source blocks generating Real and Boolean signals | ||||

Constants | Mathematical constants and constants of nature | ||||

Electrical | Analog electrical models (resistor, capacitor, lines, semiconductors, ...) | ||||

Icons | Icon definitions | ||||

Math | Mathematical functions (sin, cos, log, ...) | ||||

Mechanics | Mechanical systems | ||||

Rotational | 1-dim. rotational mechanical components (inertia, clutch, brake, ...) | ||||

Translational | 1-dim. translational mechanical components (mass, spring, stop, ...) | ||||

SIunits | Type definitions based on SI units according to ISO 31-1992 |

The following free libraries are supplied from different authors. Although
these libraries are free software, there are some minor restrictions defined
in the Modelica license conditions.

HyLibLight | Library of hydraulic components from Prof. Peter
Beater
(full version is commercial, see below) |
|||

ModelicaAdditions | Collection of Modelica
libraries of DLR from Martin
Otter
(developed in EU Project RealSim under contract IST-1999-11979). |
|||

Blocks | Additional input/output blocks | |||

Discrete | Discrete input/output blocks with fixed sample period | |||

Logical | Boolean input/output blocks | |||

Multiplexer | Combine and split signal connectors of type Real | |||

HeatFlow1D | 1-dimensional heat flow (heat resistance/capacitance, convection, ...) | |||

MultiBody | 3-dimensional mechanical systems (3D-bodies,
joints, force elements, ...;
Dymola version 4.1 required) |
|||

PetriNets | Petri nets and state transition diagrams (Paper about the method) | |||

Tables | Table look-up in 1 and 2 dimensions (data optionally from file) | |||

ObjectStab | Power Systems Voltage and Transient Simulation Library from Mats Larsson. Paper about ObjectStab. |

The following libraries are commerically sold and need a license.

HyLib | Library of about 90 hydraulic components from Prof. Peter Beater, such as pumps, motors, valves, orifices, etc. (Distributor: Dynasim) |